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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::SampleConsensusModelFromNormals&lt; PointT, PointNT &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html" title="SampleConsensusModelFromNormals represents the base model class for models that require the use of su...">SampleConsensusModelFromNormals</a></b> represents the base model class for models that require the use of surface normals for estimation.  
 <a href="classpcl_1_1_sample_consensus_model_from_normals.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="sample__consensus_2include_2pcl_2sample__consensus_2sac__model_8h_source.html">sac_model.h</a>&gt;</code></p>
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类 pcl::SampleConsensusModelFromNormals&lt; PointT, PointNT &gt; 继承关系图:</div>
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<area href="classpcl_1_1_sample_consensus_model_cone.html" title="SampleConsensusModelCone defines a model for 3D cone segmentation. The model coefficients are defined..." alt="pcl::SampleConsensusModelCone&lt; PointT, PointNT &gt;" shape="rect" coords="0,56,400,80"/>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#aac33c2093acaca505d27397c0cc0af71">SampleConsensusModelFromNormals</a> ()</td></tr>
<tr class="memdesc:aac33c2093acaca505d27397c0cc0af71"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html" title="SampleConsensusModelFromNormals represents the base model class for models that require the use of su...">SampleConsensusModelFromNormals</a>. <br /></td></tr>
<tr class="separator:aac33c2093acaca505d27397c0cc0af71"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a010f51999fde7c867ea2a6b53a7887b8"><td class="memItemLeft" align="right" valign="top"><a id="a010f51999fde7c867ea2a6b53a7887b8"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a010f51999fde7c867ea2a6b53a7887b8">~SampleConsensusModelFromNormals</a> ()</td></tr>
<tr class="memdesc:a010f51999fde7c867ea2a6b53a7887b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a010f51999fde7c867ea2a6b53a7887b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a490b2a89f60d8fafa2c7fd6b8f761c85"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a490b2a89f60d8fafa2c7fd6b8f761c85">setNormalDistanceWeight</a> (const double w)</td></tr>
<tr class="memdesc:a490b2a89f60d8fafa2c7fd6b8f761c85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the normal angular distance weight.  <a href="classpcl_1_1_sample_consensus_model_from_normals.html#a490b2a89f60d8fafa2c7fd6b8f761c85">更多...</a><br /></td></tr>
<tr class="separator:a490b2a89f60d8fafa2c7fd6b8f761c85"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d5c831e4e7469f3b2e30ab9cad559b3"><td class="memItemLeft" align="right" valign="top"><a id="a3d5c831e4e7469f3b2e30ab9cad559b3"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a3d5c831e4e7469f3b2e30ab9cad559b3">getNormalDistanceWeight</a> ()</td></tr>
<tr class="memdesc:a3d5c831e4e7469f3b2e30ab9cad559b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the normal angular distance weight. <br /></td></tr>
<tr class="separator:a3d5c831e4e7469f3b2e30ab9cad559b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8945c93d6a5f7b436b527794888ec1be"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a8945c93d6a5f7b436b527794888ec1be">setInputNormals</a> (const PointCloudNConstPtr &amp;normals)</td></tr>
<tr class="memdesc:a8945c93d6a5f7b436b527794888ec1be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.  <a href="classpcl_1_1_sample_consensus_model_from_normals.html#a8945c93d6a5f7b436b527794888ec1be">更多...</a><br /></td></tr>
<tr class="separator:a8945c93d6a5f7b436b527794888ec1be"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af878ad2a4bb4badec569eb51d94d5a0d"><td class="memItemLeft" align="right" valign="top"><a id="af878ad2a4bb4badec569eb51d94d5a0d"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#af878ad2a4bb4badec569eb51d94d5a0d">getInputNormals</a> ()</td></tr>
<tr class="memdesc:af878ad2a4bb4badec569eb51d94d5a0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the normals of the input XYZ point cloud dataset. <br /></td></tr>
<tr class="separator:af878ad2a4bb4badec569eb51d94d5a0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Protected 属性</h2></td></tr>
<tr class="memitem:ae21dd06dfc1c624f72925edff6c882e4"><td class="memItemLeft" align="right" valign="top"><a id="ae21dd06dfc1c624f72925edff6c882e4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#ae21dd06dfc1c624f72925edff6c882e4">normal_distance_weight_</a></td></tr>
<tr class="memdesc:ae21dd06dfc1c624f72925edff6c882e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. <br /></td></tr>
<tr class="separator:ae21dd06dfc1c624f72925edff6c882e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5518bb7163a19fbc4a79d76f03742c0b"><td class="memItemLeft" align="right" valign="top"><a id="a5518bb7163a19fbc4a79d76f03742c0b"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a5518bb7163a19fbc4a79d76f03742c0b">normals_</a></td></tr>
<tr class="memdesc:a5518bb7163a19fbc4a79d76f03742c0b"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the input dataset that contains the point normals of the XYZ dataset. <br /></td></tr>
<tr class="separator:a5518bb7163a19fbc4a79d76f03742c0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename PointNT&gt;<br />
class pcl::SampleConsensusModelFromNormals&lt; PointT, PointNT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html" title="SampleConsensusModelFromNormals represents the base model class for models that require the use of su...">SampleConsensusModelFromNormals</a></b> represents the base model class for models that require the use of surface normals for estimation. </p>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a8945c93d6a5f7b436b527794888ec1be"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8945c93d6a5f7b436b527794888ec1be">&#9670;&nbsp;</a></span>setInputNormals()</h2>

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template&lt;typename PointT , typename PointNT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">pcl::SampleConsensusModelFromNormals</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::setInputNormals </td>
          <td>(</td>
          <td class="paramtype">const PointCloudNConstPtr &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
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<p>Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">normals</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;      { </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a5518bb7163a19fbc4a79d76f03742c0b">normals_</a> = normals; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_from_normals_html_a5518bb7163a19fbc4a79d76f03742c0b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_from_normals.html#a5518bb7163a19fbc4a79d76f03742c0b">pcl::SampleConsensusModelFromNormals::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">A pointer to the input dataset that contains the point normals of the XYZ dataset.</div><div class="ttdef"><b>Definition:</b> sac_model.h:645</div></div>
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<a id="a490b2a89f60d8fafa2c7fd6b8f761c85"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a490b2a89f60d8fafa2c7fd6b8f761c85">&#9670;&nbsp;</a></span>setNormalDistanceWeight()</h2>

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template&lt;typename PointT , typename PointNT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">pcl::SampleConsensusModelFromNormals</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::setNormalDistanceWeight </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>w</em></td><td>)</td>
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<p>Set the normal angular distance weight. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">w</td><td>the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. (The Euclidean distance will have weight 1-w.) </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;      { </div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#ae21dd06dfc1c624f72925edff6c882e4">normal_distance_weight_</a> = w; </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_from_normals_html_ae21dd06dfc1c624f72925edff6c882e4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_from_normals.html#ae21dd06dfc1c624f72925edff6c882e4">pcl::SampleConsensusModelFromNormals::normal_distance_weight_</a></div><div class="ttdeci">double normal_distance_weight_</div><div class="ttdoc">The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point norma...</div><div class="ttdef"><b>Definition:</b> sac_model.h:640</div></div>
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